CN215006257U - Device for realizing color three-dimensional point cloud naked eye display by using single spatial light modulator - Google Patents

Abstract

The utility model discloses a single spatial light modulator realizes colored three-dimensional point cloud bore hole display device. The device comprises a spatial light modulator, a collimator laser, a polaroid, a wedge-shaped beam splitter and a lens group; the three parallel light pipe lasers emit light beams with different colors, the light beams are respectively incident to the wedge-shaped beam splitter after passing through the respective polaroids, are incident to the spatial light modulator after being converged and combined by the wedge-shaped beam splitter and then are reflected by the spatial light modulator and then are incident to human eyes through the lens group. The utility model discloses utilize single spatial light modulator to realize the bore hole 3D display device of the wide visual angle high definition of colored three-dimensional point cloud, solved the problem that single spatial light modulator colored imaging does not have the image aliasing and bore hole observation effect difference, provide an effective way for the miniaturization of colored three-dimensional bore hole display device.

Description

Device for realizing color three-dimensional point cloud naked eye display by using single spatial light modulator

Technical Field

The utility model relates to a 3D display device of holographic display technology field, more specifically relate to a single spatial light modulator realizes the naked eye 3D display device of colored three-dimensional point cloud.

Background

And 3D displaying stereoscopic vision information of object depth feeling by using the color naked eyes. The method can completely record and reconstruct the wave front of a three-dimensional object, provide all depth information required by a human visual system, and more truly reproduce the same scenes in the objective world, and the three-dimensional display naked-eye 3D display technology with color and large field angle is one of the current research hotspots. Color naked eye 3D display technologies fall into two general categories: a class of three SLMs: the RGB three-color light respectively illuminates three SLMs to reconstruct a 3D image view field on a reconstruction plane, the scheme needs a complex light path design to ensure that the reconstructed images of RGB three channels are accurately combined together, the system cost is too high, and the integral volume is greatly increased; another class reconstructs 3D image fields of view with a single SLM. At present, a color display device based on a single-chip spatial light modulator mainly comprises a division multiplexing device, a spatial division device and a spatial superposition device.

Time division multiplexing device: the single-chip SLM is illuminated by periodically illuminating Red, Green and Blue light, and an RGB (Red, Green, Blue) three-channel kinoform is periodically displayed on the SLM, so that color projection is realized. The time division multiplexing method has high requirement on system synchronism, the scheme requires that the spatial light modulator has a high frame rate, and human eyes feel a time-synthesized color image through an integral effect after the rate reaches a certain degree. In the principle of the scheme, for one color component, energy is lost on the time axis, so the imaging effect of the color component is influenced to a certain extent. The device needs to accurately control the working time of the RGB light source and the synchronism of loading the corresponding RGB color component hologram, which has higher requirement on the response speed of hardware for loading the hologram.

The space division device: the single-chip SLM plane is divided into three regions, RGB three-channel kinoforms are loaded respectively, three color lights illuminate the three regions respectively, a beam shaping system is needed to ensure that the wavefront of illumination light is matched with the divided regions, complexity is improved, and the utilization rate of a single-chip modulator is not high.

The space superposition device: the RGB three-channel image is coded in the same kinoform, the pixel utilization rate is high, a time-sharing system is not needed, and the single-chip SLM color projection system is simple in structure. However, when one of the RGB three-color lights is irradiated alone, in addition to restoring the image of its own color channel, the images of other color channels are reproduced, and these images are overlapped on the image plane, which causes serious noise and extraneous image problems, so that it is necessary to eliminate the extraneous signal by applying pinhole filtering while not blocking the effective signal. The light path and the system of the spatial superposition device are simpler than those of other devices, and great potential advantages are provided for miniaturization of the color stereoscopic naked eye display equipment. At present, the research for reducing image plane noise and eliminating irrelevant images in a spatial superposition method based on the device is not many, and the device does not exert the advantages of the device at present.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that exists among the background art, the to-be-solved technical problem of the utility model is exactly to provide a adjust the low, the single spatial light modulator bore hole display device of the colored three-dimensional point cloud that can bore hole observe of complexity, single spatial light modulator realizes colored three-dimensional point cloud bore hole 3D display device promptly: the problems of small visual angle, large calculation amount and low speed of making the kinoform are solved.

The utility model adopts the technical proposal that:

the utility model comprises a spatial light modulator, a parallel light tube laser, a polaroid, a wedge-shaped beam splitter and a lens group; the three parallel light pipe lasers emit light beams with different colors, the light beams are respectively incident to the wedge-shaped beam splitter after passing through the respective polaroids, are incident to the spatial light modulator after being converged and combined by the wedge-shaped beam splitter and then are reflected by the spatial light modulator and then are incident to human eyes through the lens group.

The three lasers with the parallel light pipes are respectively a green light laser with the parallel light pipes, a red laser with the parallel light pipes and a blue laser with the parallel light pipes; in specific implementation, the three parallel light pipe lasers are a parallel light pipe wavelength 520nm (green) solid laser, a parallel light pipe wavelength 635nm (red) semiconductor laser and a parallel light pipe wavelength 450nm (blue) semiconductor laser respectively.

The green light balancing collimator laser emits green light beams which are transmitted to the first wedge-shaped beam splitter after passing through the first polarizing film, the red light balancing collimator laser emits red light beams which are transmitted to the first wedge-shaped beam splitter after passing through the second polarizing film and are reflected, and the blue light balancing collimator laser emits blue light beams which are transmitted to the second wedge-shaped beam splitter after passing through the third polarizing film and are reflected; the green light beam is transmitted through the first wedge-shaped beam splitter, the red light beam is transmitted through the second wedge-shaped beam splitter after being reflected by the first wedge-shaped beam splitter, and then the green light beam and the blue light beam are transmitted to the spatial light modulator through the fourth polaroid after being reflected by the second wedge-shaped beam splitter.

The spatial light modulator is of a reflective type, and the modulation mode is phase modulation.

The lens group is formed by coaxially arranging a plurality of lenses.

The method comprises the steps that a flat plate is placed at the imaging position of the holographic real image, the holographic real image is observed by human eyes at the same side of a spatial light modulator, the holographic real image is provided with a real image part and a virtual image part, and light beams emitted by the spatial light modulator are irradiated to the flat plate and are formed through diffuse reflection.

The system of the utility model projects a three-dimensional object, and a kinoform is loaded on a spatial light modulator to diffract a three-dimensional real image of the three-dimensional object; the short-focus large-aperture lens group is used for concentrating the diffracted waves in an observation distance area, the lens group converts the holographic real image into a lens virtual image for observation, and the visible visual angle of the three-dimensional image is increased.

The utility model discloses accessible modeling preparation colored point cloud kinoform on light path structure basis, the point cloud goes to shelter from, fall the sampling, proposes new colored model diffraction integral space superposition device and makes RGB superimposed imaging do not rely on the aperture to filter, can reduce the complexity that single SLM colored imaging was adjusted by a wide margin, with GPU acceleration kinoform processing procedure in addition, can observe colored three-dimensional point cloud model again with the bore hole.

The utility model discloses the principle of realizing the holographic three-dimensional demonstration of developments is: the method comprises the steps of manufacturing a color point cloud model, conducting unblocking and downsampling on point cloud, conducting diffraction integral numerical operation accelerated by a GPU to obtain a kinoform, observing the color three-dimensional point cloud model through naked eyes conveniently by adopting a new space superposition device, rotating the point cloud for multiple times at certain angle intervals, repeatedly manufacturing the kinoform to obtain a kinoform sequence, and rapidly switching the kinoform sequence on an SLM to achieve dynamic display.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

1) compared with the prior art, the utility model, the prior art mostly uses the clear blur of two surfaces with different distances to show that the imaging is three-dimensional, the technical proposal provided by the utility model adopts the color point cloud data as a three-dimensional model, the depth of the points is different, and the points can be seen as the collection of points on the planes with infinite different distances, which is more detailed and accords with the real scene;

2) in the prior art, a rough plane such as a light screen or frosted glass is adopted to scatter a high-brightness real image, so that the real image is convenient for human eyes to observe, the normal observation brightness can be realized only by needing higher laser power, most of light energy is scattered and wasted, and the imaging environment is ensured to have no stray light interference; the utility model provides a naked eye observation with high light energy utilization rate and finer imaging, a low-power laser can also meet the requirement, and the influence of environment stray light on the naked eye observation is very small;

3) in the existing spatial light modulator imaging device, a kinoform made by an overlay method commonly uses a bi-phase grating, a spherical phase grating and a blazed grating to enable spherical convergence points of three images formed by a monochromatic light source to have different offsets, and then a small hole is used in a light path to filter out irrelevant images, so that three target RGB components in nine images with different colors are reserved; the small holes are easy to filter unclean, and cause image surface residual irrelevant image noise. The utility model adopts the pre-processing of zooming and deviation aiming at the point cloud coordinate, thereby ensuring that three images with the same color generated by the monochromatic light source are not overlapped; thus, the program code is simpler, the required components are fewer, and the optical path adjustment is easier.

4) In the existing spatial light modulator imaging, a kinoform made by an overlay method adopts a double-phase and spherical phase, and circular diffraction spots can be seen by naked eyes, so that the imaging effect is seriously influenced; the utility model has high imaging quality and no defects.

Drawings

Fig. 1 is a schematic diagram of the 3D color point cloud model of the present invention;

FIG. 2 is a schematic diagram of the optical system apparatus of the present invention;

FIG. 3 is a schematic diagram of spatial position distribution of a holographic real image, a lens virtual image and a human eye position when a 3D holographic image is observed by naked eyes;

FIG. 4 shows a lotus point cloud model;

FIG. 5 is a color lotus dot cloud picture in which the portion of the back that is occluded under the current viewing angle is removed, and each point is given a color according to the distance from the viewpoint;

FIG. 6 is an image of a color lotus observed on a light screen;

FIG. 7 is a color lotus diagram observed by naked eyes through a lens set;

FIG. 8 is an example of imaging with single SLM color imaging using a conventional spatial overlap beam path setup with extraneous image aliasing;

fig. 9 is an example of imaging with a single SLM color imaging using a conventional spatial superposition beam path arrangement, with a circular ring shaped diffraction spot.

In the figure: the device comprises a spatial light modulator (10), parallel light pipe lasers (1, 2 and 3), polarizing plates (4, 5, 6 and 9), wedge-shaped beam splitters (7 and 8) and a lens group (11).

Detailed Description

The invention will be further described with reference to the accompanying drawings and specific embodiments.

As shown in fig. 2, the optical path includes a spatial light modulator 10, collimator lasers 1, 2, 3, polarizers 4, 5, 6, 9, wedge beam splitters 7, 8, and a lens group 11; the three parallel light pipe lasers 1, 2 and 3 emit light beams with different colors, the light beams are respectively incident to the wedge beam splitters 7 and 8 after passing through the polarizing plates 4, 5 and 6, the light beams are converged and combined by the wedge beam splitters 7 and 8, then are incident to the spatial light modulator 10 through the polarizing plate 9, and are reflected by the spatial light modulator 10 and then are incident to human eyes through the lens group 11 to be imaged.

The three balancing parallel light pipe lasers 1, 2 and 3 are R, G, B balancing parallel light pipe lasers 1, 2 and 3 with three colors respectively, and are a green light balancing parallel light pipe laser 1, a red light balancing parallel light pipe laser 2 and a blue light balancing parallel light pipe laser 3 respectively; the green light balancing collimator laser 1 emits a green light beam which is transmitted to the first wedge-shaped beam splitter 7 after passing through the first polaroid 4, the red light beam emitted by the red light balancing collimator laser 2 is transmitted to the first wedge-shaped beam splitter 7 after passing through the second polaroid 5 and is reflected, and the blue light beam emitted by the blue light balancing collimator laser 3 is transmitted to the second wedge-shaped beam splitter 8 after passing through the third polaroid 6 and is reflected; the green light beam is transmitted through the first wedge-shaped beam splitter 7, the red light beam is reflected through the first wedge-shaped beam splitter 7 and is incident to the second wedge-shaped beam splitter 8 together for transmission, and then is incident to the spatial light modulator 10 through the fourth polarizer 9 together with the blue light beam reflected through the second wedge-shaped beam splitter 8.

In specific implementation, the green light-matching parallel light pipe laser 1, the first polarizing film 4, the first wedge-shaped beam splitter 7, the second wedge-shaped beam splitter 8, the fourth polarizing film 9 and the spatial light modulator 10 are all arranged along a main optical axis of the same straight line.

The optical axes of the red light balancing collimator laser 2 and the second polarizing film 5 are arranged at a certain deflection angle with the main optical axis, the optical axes of the blue light balancing collimator laser 3 and the third polarizing film 6 are arranged at a certain deflection angle with the main optical axis, and the RGB three-beam parallel light of the green light beam, the red light beam and the blue light beam is converged at the spatial light modulator 10.

The position where the green beam is transmitted to the first wedge-shaped beam splitter 7 and the position where the red beam is reflected to the first wedge-shaped beam splitter 7 are not overlapped on the first wedge-shaped beam splitter 7, the position where the green beam is transmitted to the second wedge-shaped beam splitter 8, the position where the red beam is transmitted to the second wedge-shaped beam splitter 8 and the position where the blue beam is reflected to the second wedge-shaped beam splitter 8 are not overlapped on the second wedge-shaped beam splitter 8.

The spatial light modulator 20 is a reflective type, and the modulation mode is phase modulation.

The lens assembly 11 is a short-focus large-aperture lens assembly and is formed by coaxially arranging a plurality of lenses so as to increase the visual angle and enhance the display effect. Short coke means within 10 mm. By large aperture is meant a lens with a diameter greater than 30 mm.

The three parallel light pipe lasers 1, 2 and 3 are all integrated semiconductor lasers and serve as light sources.

The embodiment of the utility model and the implementation process are as follows:

1) the first step is as follows:

A3D color point cloud model of an object to be imaged is manufactured through modeling, as shown in figure 4, the original point cloud is a lotus flower, is a 360-degree scan of the lotus flower model and has an xyz coordinate of 81000 points.

1.1) dividing a 3D color point cloud model of lotus into three submodels of RGB three channels;

in the aspect of point cloud coloring, an additional three coordinates RGB are adopted to represent the color component of each point. The proportion of white lotus flowers, namely all points RGB is 1: 1: 1. or each point may be assigned a different color depending on the distance to the viewpoint.

And 1.2) sequentially carrying out shielding removal and down-sampling treatment on the three sub-models, and simulating the shielding relation of a real scene by taking the direction vertical to the XY plane as the sight direction.

Removing occlusion, namely simulating an opaque object observed in reality, only keeping the front side of the 3D color point cloud model seen by human eyes at an observation position' in the figure 3, and removing occluded back point cloud; the method specifically comprises the following steps: and rasterizing an XY plane of the submodel, wherein the XY plane of the submodel is a plane perpendicular to an optical axis where the emitted light beam is located, retaining points which are closest to the SLM plane in the same grid, and removing the rest points as redundant points so as to achieve the effect of removing the redundant points with shielding relation. Keeping points closer to an observer in the same grid so as to achieve the effect of removing redundant points with shielding relation; the size of the grid is customized, and only one point of each grid is reserved so as to achieve the purpose of down-sampling. The results are shown in FIG. 5.

1.3) then scaling the coordinate scale of the three submodels, namely scaling point clouds, aiming at the three submodels with the same size, the following processing is carried out: and establishing a minimum bounding box outside the sub-model, wherein the minimum bounding box is a cube, and scaling the side length size Ltarget of the cube to be less than one third of the image plane size L.

1.4) as shown in FIG. 1, controlling the submodel of the red channel R and the submodel of the blue channel B to be respectively positioned at two sides of the submodel of the green channel G, and staggering the three submodels at fixed intervals along the horizontal direction; the three submodels of the RGB channels of the 3D color point cloud model are kept at fixed intervals so that they are completely spaced apart from each other.

The three submodels are staggered at fixed intervals along the horizontal direction, and specifically comprise: the included angle between the connecting line from the submodel of the red channel R and the submodel of the green channel G to the center of the SLM plane respectively, and the included angle between the connecting line from the submodel of the blue channel B and the connecting line from the submodel of the green channel G to the center of the SLM plane respectively are arcsin (dx/z), so that target RGB components are accurately superposed during reproduction, and the aliasing of unrelated images is prevented, so that the pinhole filtering is not needed during reproduction.

The imaging distance z is 400mm, the calculated L is 22.5mm, the size of the target image plane should be smaller than 22.5/3 and 7.5mm, the size of the target image plane Ltarget is 5mm, and the position of the RGB point cloud in space keeps a certain interval dx which is 7.5 mm.

And connecting the submodel to the center of the SLM plane, specifically, connecting the average coordinate of all point coordinates in the point cloud of the submodel to the center of the SLM plane.

This separates the three channel components RGB and keeps a certain separation dx in the imaging plane, which is the plane perpendicular to the optical axis where the three submodels lie.

In a specific implementation, three submodels are used to produce a point sequence with coordinate format XYZRGB. As in the following table:

TABLE 1 XYZRGB Point cloud sequence segment

1.00	177.00	201.90	0.11	1.00	0.89
						2.00	176.00	205.53	0.14	1.00	0.86
3.00	171.00	202.31	0.11	1.00	0.89
						3.00	172.00	204.16	0.13	1.00	0.88
3.00	173.00	205.87	0.14	1.00	0.86
						3.00	174.00	206.96	0.16	1.00	0.84
3.00	176.00	198.89	0.08	1.00	0.92
						4.00	170.00	203.63	0.13	1.00	0.88

1.5) as shown in fig. 1, the three submodels respectively emit light beams along a horizontal plane to irradiate onto the SLM plane representing the spatial light modulator 10, calculate the diffraction integral of the 3D color point cloud model to each pixel of the SLM plane representing the spatial light modulator 10, and obtain a kinoform by using the diffraction integral.

The method comprises the following steps: light of each point of the three sub-models is diffracted to the complex amplitudes of the same pixel of the SLM plane to be added, diffraction integration is specifically the complex amplitudes, and after the light is added at each pixel of the SLM plane, the result extracts phases respectively to form a kinoform.

The kinoform operation process can adopt GPU acceleration operation programmed by CUDA, specifically, a common matrix type is converted into gpuArray in matlab, namely CUDA acceleration built in matlab is called, after acceleration, the time consumption of diffraction integral calculation of each point is 1/9.1 of the time consumption of CPU calculation, and the average time consumption of each point calculation is 32 ms.

TABLE 2 GPU comparison of time consumption before and after acceleration, de-occlusion, and downsampling

Device/point count	81000 points (original point cloud)	28724 points (De-occlusion, down-sampling)
			CPU	Consuming time 23740s	Consuming 7863s
GPU	Consuming 2599s	Time consumption 835s

2) The second step is that:

the light path is arranged according to the holographic three-dimensional display device, and the beam splitters 7 and 8 are adjusted to enable the red light of the parallel light pipe laser 2, the blue light of the parallel light pipe laser 3 and the green light of the parallel light pipe laser 1 to form arcsin (dx/z) angles, so that RGB three-channel components of a holographic image obtained by subsequent SLM diffraction can be conveniently superposed on a spatial position.

The SLM puts in the phase place hologram of first step preparation, lights RGB laser instrument, adjusts the polaroid and makes the light beam be the brightest state, observes diffuse reflection formation of image with the light screen before convex lens, adjusts the upper and lower screw button of two beam splitters and then adjusts the angle of beam splitter for it makes red, blue image and green image coincide completely to locate at 400mm at z. The imaging results observed at 400mm z using a light screen are shown in figure 6.

And the polaroids at the front ends of the three laser devices 1, 2 and 3 are adjusted to reduce the brightness of the light beams passing through the polaroids to the minimum, a kinoform is loaded on the spatial light modulator 10, and 3D imaging with a certain depth is observed by naked eyes through the lens group 11.

In the step 2), the polaroid is adjusted to enable the brightness of the RGB light beams to be the lowest, and naked eye 3D image observation is carried out when the RGB light beams are almost invisible under indoor normal ambient light. The convex lens is placed at the position of an extension line of the light screen imaging:

firstly, the polaroids in front of the three parallel light pipe lasers 1, 2 and 3 are used for adjusting the brightness of light beams emitted by the three parallel light pipe lasers 1, 2 and 3 after penetrating through the polaroids to be the lowest to prevent eyes from being damaged, and then the polaroids in front of the three parallel light pipe lasers 1, 2 and 3 are finely adjusted, so that the color of the light beam emitted from the second wedge-shaped beam splitter 8 is consistent with the color matching of an original object to be imaged, and the RGB color is normal.

The lens group projects the constructed object and hologram to the spatial position set when calculating the kinoform, i.e. z is 400 mm.

As shown in fig. 3, a lens aerial image and a holographic real image are formed between the spatial light modulator 10 and the lens group 11, the lens aerial image is close to the spatial light modulator 10, and the holographic real image is close to the lens group 11.

And placing a light screen at the imaging position of the real holographic image with the z being 400mm, seeing the real holographic image on the light screen at the same side of the spatial light modulator 10, and finely adjusting the screw buttons of the beam splitters 7 and 8 to enable the target RGB channel components to be superposed. The real image is illuminated by a beam of light from the spatial light modulator 10 onto the light screen and is observed by the human eye as a result of the diffuse reflection of the real image by the light screen.

The human eye sees the lens virtual image through observing from the lens group 11, and the size of the lens virtual image observed by the human eye is as follows:

wherein Sv represents the size of a lens virtual image, v represents the optical path from the lens virtual image to the center of the lens group, and u represents the optical path from a holographic real image to the center of the lens group. The lens group is used for amplifying the holographic real image and increasing the observation visual angle; as shown in fig. 3, the included angle between the eye and the connecting line between the two ends of the virtual image of the lens is larger than the included angle between the eye and the connecting line between the two ends of the real holographic image, i.e. the size of the image is increased by the lens group, and the visual angle of the image to the eye is also increased.

The eyes move to the position close to the convex lens, and move up and down, left and right by a small amplitude until the color three-dimensional holographic lotus is found; the screws of the beam splitters 7, 8 are again fine-tuned to make the RGB three-channel components completely coincide. The camera is placed at the viewer's position of the human eye and the image is taken as shown in fig. 6 and 7.

FIG. 8 shows that when a conventional spatial overlap optical path apparatus is used for single SLM color imaging, speckle noise caused by unclean pinhole filtering is large; fig. 9 shows that when the conventional spatial superposition optical path apparatus is used for single SLM color imaging, the lower left corner of the picture has annular diffraction spots caused by spherical phase. The utility model solves the problems.

Therefore, the utility model provides a technical scheme utilizes single spatial light modulator to realize the bore hole 3D display device of the wide visual angle high definition of colored point bore hole. The optical system is currently directed to commercial VR helmets. Within the range allowed by aberration, the configuration display device is compact, the problem of irrelevant image aliasing of single spatial light modulator color imaging is solved, compared with the traditional device, the naked eye imaging quality is improved, the element adjustment complexity is reduced, and an effective way is provided for the miniaturization of color stereoscopic naked eye display equipment.

Claims (4)

1. The utility model provides a single spatial light modulator realizes colored three-dimensional point cloud bore hole display device which characterized in that: the device comprises a spatial light modulator (10), parallel light pipe lasers (1, 2 and 3), polarizing plates (4, 5, 6 and 9), wedge-shaped beam splitters (7 and 8) and a lens group (11); the three parallel light pipe lasers (1, 2 and 3) emit light beams with different colors, the light beams are respectively incident to the wedge beam splitters (7 and 8) after passing through the polarizing plates (4, 5 and 6), are incident to the spatial light modulator (10) after being converged and combined by the wedge beam splitters (7 and 8) and then passing through the polarizing plate (9), and are reflected by the spatial light modulator (10) and then are incident to human eyes through the lens group (11) for imaging.

2. The device for realizing the naked eye display of the color three-dimensional point cloud by the single spatial light modulator according to claim 1, wherein: the three lasers (1, 2 and 3) with the parallel light pipe are respectively a green light laser (1) with the parallel light pipe, a red laser (2) with the parallel light pipe and a blue laser (3) with the parallel light pipe; the green light is distributed with the collimator laser (1) and emits the green light beam to enter the first wedge beam splitter (7) to transmit after passing through the first polaroid (4), the red light is distributed with the collimator laser (2) and emits the red light beam to enter the first wedge beam splitter (7) to reflect after passing through the second polaroid (5), the blue light is distributed with the collimator laser (3) and emits the blue light beam to enter the second wedge beam splitter (8) to reflect after passing through the third polaroid (6); the green light beam is transmitted by the first wedge beam splitter (7), the red light beam is transmitted by the second wedge beam splitter (8) after being reflected by the first wedge beam splitter (7), and then the green light beam and the blue light beam are transmitted to the spatial light modulator (10) after being reflected by the second wedge beam splitter (8) after being transmitted by the second wedge beam splitter and passing through the fourth polaroid (9).

3. The device for realizing the naked eye display of the color three-dimensional point cloud by the single spatial light modulator according to claim 1, wherein: the spatial light modulator (10) is of a reflective type, and the modulation mode is phase modulation.

4. The device for realizing the naked eye display of the color three-dimensional point cloud by the single spatial light modulator according to claim 1, wherein: the lens group (11) is formed by coaxially arranging a plurality of lenses.

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